Control method and device for offshore wind turbine

Abstract

The invention relates to the technical field of wind power generation, in particular to a control method and device for an offshore wind turbine. When the current fan rotating speed is larger than the rated fan rotating speed, the rated rotating speed of the wind wheel low-speed shaft is determined according to the current fan rotating speed; determining the variable quantity of a blade pitch angle of the wind turbine based on the rated rotating speed of a wind wheel low-speed shaft; according to the scheme, the fan is controlled based on the variable quantity of the blade pitch angle of the wind turbine, and the load of the fan can be reduced on the premise that it is guaranteed that the generated power of the fan is stable through a linkage adjusting mechanism of the rotating speed and the pitch angle.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a control method and device for an offshore wind turbine. Background Art

[0002] Currently, most existing offshore wind farms are located in intertidal zones and nearshore areas. Resource development is gradually reaching saturation, and the cost of further development is rising. However, my country possesses vast deep-sea wind energy reserves, with stronger and more stable winds. Driven by offshore development, offshore wind power is inevitably moving to deepwater locations far from shore. Considering the costs and benefits of deep-sea wind energy development, large floating wind turbines offer a cost advantage in waters deeper than 50 meters. Their adaptability to complex, deep-sea environments, ease of construction, and low operation and maintenance costs make them an inevitable choice for future offshore wind power development.

[0003] The motion and load reduction control of floating wind turbine systems has long been a hot topic of research. As wind turbine megawatts increase, floating wind turbine systems become more flexible. Especially under the combined effects of extreme wind and wave loads, the system can experience significant nonlinear motion, resulting in significant vibration and high structural loads at key locations such as the blade root and the tower-platform connection. This can lead to significant fatigue loads and even fatigue failure of the floating wind turbine system structure. Therefore, it is crucial to develop the necessary measures to suppress excessive motion and fatigue loads in the system, ensuring operational reliability and power output stability throughout its lifecycle.

[0004] Based on this, the present invention proposes a control method and device for an offshore wind turbine to solve the problem of how to reduce the load of the wind turbine while ensuring the stability of the wind turbine's power generation. Summary of the Invention

[0005] In order to solve the problem of how to reduce the load of a wind turbine while ensuring stable power generation of the wind turbine, an embodiment of the present invention provides a control method and device for an offshore wind turbine.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling an offshore wind turbine, the method comprising:

[0007] When the current fan speed is greater than the rated fan speed, determining the rated speed of the low-speed shaft of the wind rotor based on the current fan speed;

[0008] Determining a change in a pitch angle of a wind turbine blade based on a rated speed of the wind rotor low-speed shaft;

[0009] The wind turbine is controlled based on the variation of the pitch angle of the wind turbine blades.

[0010] In a second aspect, an embodiment of the present invention provides a control device for an offshore wind turbine, comprising:

[0011] A first data processing module is configured to determine a rated speed of a low-speed shaft of a wind turbine based on the current wind turbine speed when the current wind turbine speed is greater than the rated wind turbine speed;

[0012] A second data processing module is used to determine a change in the pitch angle of the wind turbine blades based on the rated speed of the wind rotor low-speed shaft;

[0013] The third data processing module is used to control the wind turbine based on the change in the pitch angle of the wind turbine blades.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present invention is implemented.

[0015] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method described in any embodiment of the present invention.

[0016] Embodiments of the present invention provide a control method and device for an offshore wind turbine. This method uses a high-precision sensor to collect real-time wind turbine main shaft speed signals. When the measured speed exceeds the rated speed threshold, the rated target speed of the rotor low-speed shaft is calculated using mechanical transmission principles based on the relationship between the aerodynamic characteristic curve and the transmission system speed ratio. The aerodynamic characteristic curve is an important basis for describing the aerodynamic performance of a wind turbine at different wind speeds and speeds, while the transmission system speed ratio determines the speed conversion relationship between the rotor and generator. Based on the rated speed of the rotor low-speed shaft, the change in the wind turbine blade pitch angle is determined. Ultimately, the pitch angle is dynamically adjusted using an electro-hydraulic servo system. The electro-hydraulic servo system is a high-precision control system that uses hydraulic oil as a medium and controls the operation of hydraulic actuators via electrical signals. This system enables rapid and precise adjustment of the blade pitch angle. While maintaining generator power tracking at the rated value, advance adjustment of the pitch angle reduces aerodynamic load fluctuations. Thus, the present invention reduces wind turbine load while ensuring stable wind turbine power generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1A flow chart of a control method for an offshore wind turbine according to one embodiment is shown;

[0019] Figure 2 This is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0020] Figure 3 A structural diagram of a control device for an offshore wind turbine according to one embodiment is shown. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] Please refer to Figure 1 , an embodiment of the present invention provides a control method for an offshore wind turbine, the method comprising:

[0023] Step 100: When the current fan speed is greater than the rated fan speed, the rated speed of the low-speed shaft of the wind rotor is determined based on the current fan speed;

[0024] Step 102: determining a change in the pitch angle of the wind turbine blades based on the rated speed of the wind rotor low-speed shaft;

[0025] Step 104: Control the wind turbine based on the change in the pitch angle of the wind turbine blades.

[0026] In this embodiment, a high-precision sensor collects the wind turbine main shaft speed signal in real time. When the measured speed exceeds the rated speed threshold, the rated target speed of the rotor low-speed shaft is calculated using mechanical transmission principles based on the relationship between the aerodynamic characteristic curve and the transmission system speed ratio. The aerodynamic characteristic curve is an important basis for describing the aerodynamic performance of a wind turbine at different wind speeds and speeds, while the transmission system speed ratio determines the speed conversion relationship between the wind turbine and the generator. The change in the wind turbine blade pitch angle is determined based on the rated speed of the wind turbine low-speed shaft. Ultimately, the pitch angle is dynamically adjusted using an electro-hydraulic servo system. The electro-hydraulic servo system is a high-precision control system that uses hydraulic oil as a medium and controls the operation of hydraulic actuators via electrical signals. It enables rapid and precise adjustment of the blade pitch angle. While maintaining generator power tracking at the rated value, advance adjustment of the pitch angle reduces aerodynamic load fluctuations. Thus, the present invention reduces wind turbine load while ensuring stable wind turbine power generation.

[0027] In one embodiment of the present invention, determining the change in the pitch angle of the wind turbine blades based on the rated speed of the low-speed shaft of the wind rotor includes:

[0028] Based on the rated speed of the wind rotor low-speed shaft, determine the proportional gain of the pitch angle and the integral gain of the pitch angle;

[0029] The change in the pitch angle of the wind turbine blade is determined based on the proportional gain of the pitch angle and the integral gain of the pitch angle.

[0030] In this embodiment, when determining the change in the pitch angle of the wind turbine blades based on the rated speed of the wind rotor low-speed shaft, the proportional gain and integral gain of the pitch angle are first determined based on the rated speed, and then the change in the pitch angle of the wind turbine blades is calculated using the obtained proportional gain and integral gain.

[0031] In one embodiment of the present invention, the change in the pitch angle of the wind turbine blades is determined by the following formula:

[0032]

[0033] Where Δθ is the change in the pitch angle of the wind turbine blades, T r is the wind wheel torque, I r is the moment of inertia of the wind rotor low speed shaft, T g is the generator torque, I g is the moment of inertia of the generator high-speed shaft, I drv is the inertia moment of the low-speed shaft of the transmission system, N g is the gearbox transmission ratio, Ω0 is the rated speed of the wind wheel low speed shaft, K is the acceleration of the wind wheel low-speed shaft rotation, P is the proportional gain of the pitch angle, K I is the integral gain of the pitch angle, K D is the differential gain of the preset pitch angle, and t is the time.

[0034] In this embodiment, when the wind speed is higher than the rated wind speed, the wind turbine starts blade pitch control, and the control equations of the wind rotor, nacelle and transmission system are:

[0035]

[0036] Where, T r is the wind wheel torque, I r is the moment of inertia of the wind rotor low speed shaft, T g is the generator torque, I g is the moment of inertia of the generator high-speed shaft, I drv is the inertia moment of the low-speed shaft of the transmission system, N g is the gearbox transmission ratio, Ω0 is the rated speed of the wind wheel low speed shaft, is the acceleration of the wind wheel low-speed shaft rotation.

[0037] Furthermore, assuming that the change of the wind rotor torque with its speed can be ignored, and that the generator torque is inversely proportional to the speed of the wind rotor low-speed shaft in the pitch control wind speed range, the first-order Taylor expansion of the generator torque and the wind rotor torque is as follows:

[0038]

[0039] Where P and P0 are the mechanical power and rated mechanical power of the generator respectively, Ω is the speed of the low-speed shaft of the wind rotor, θ is the pitch angle of the wind turbine blades, and Ω0 is the rated speed of the low-speed shaft of the wind rotor. The relationship between the pitch angle change and the speed difference of the wind rotor low-speed shaft is as follows:

[0040]

[0041] Where K P is the proportional gain of the pitch angle, K I is the integral gain of the pitch angle, K D is the differential gain of the pitch angle.

[0042] Further, suppose Then the azimuth The second-order equation of change can be expressed as:

[0043]

[0044] Where, the natural frequency and damping ratio are expressed as:

[0045]

[0046] For active global pitch wind turbines, the sensitivity of aerodynamic power to rotor pitch angle in the pitch control wind speed range is is negative. Therefore, when the control gain is positive, the differential term increases the effective inertia of the transmission system, the proportional term increases the damping, and the integral term increases the restoring force. In addition, since the generator torque decreases with increasing slip, the generator torque controller introduces a negative damping term in the slip response. And the negative damping term must be compensated by the proportional term in the blade pitch control.

[0047] Furthermore, in the design process of the floating wind turbine pitch controller, the differential gain term is usually ignored to ignore the negative damping caused by the generator torque control.

[0048] In one embodiment of the present invention, the proportional gain of the pitch angle is determined by the following formula:

[0049]

[0050] Where Kp is the proportional gain of the pitch angle, I drv is the inertia moment of the low-speed shaft of the transmission system, Ω0 is the rated speed of the low-speed shaft of the wind wheel, is the damping ratio, is the natural frequency, N g is the gearbox transmission ratio, are preset parameters.

[0051] In one embodiment of the present invention, the integral gain of the pitch angle is determined by the following formula:

[0052]

[0053] Where K I is the integral gain of the pitch angle, I drv is the inertia moment of the low-speed shaft of the transmission system, Ω0 is the rated speed of the low-speed shaft of the wind wheel, is the damping ratio, is the natural frequency, N g is the gearbox transmission ratio, are preset parameters.

[0054] In one embodiment of the present invention, determining a change in the pitch angle of a wind turbine blade based on a proportional gain of the pitch angle and an integral gain of the pitch angle includes:

[0055] Optimizing the proportional gain of the pitch angle and the integral gain of the pitch angle according to a preset objective function to obtain an optimized proportional gain of the pitch angle and an optimized integral gain of the pitch angle;

[0056] The change in the pitch angle of the wind turbine blade is determined based on the proportional gain of the optimized pitch angle and the integral gain of the optimized pitch angle.

[0057] In this embodiment, the change in the wind turbine blade pitch angle is determined based on the proportional gain of the pitch angle and the integral gain of the pitch angle. The specific steps are as follows: First, the proportional gain and integral gain of the pitch angle are optimized according to the preset objective function to obtain the optimized proportional gain and integral gain of the pitch angle; then, the dynamic adjustment amount of the wind turbine blade pitch angle is calculated based on the optimized proportional gain and integral gain. This ensures that the control system can achieve the optimal control effect under different working conditions.

[0058] In one embodiment of the present invention, the preset objective function is constructed by the following formula:

[0059]

[0060] Where, F NSGA is the preset objective function, f rotor (t) is the wind wheel speed difference, d p(t) is the translational motion response of the floating foundation, θ p (t) is the rotational motion response of the floating foundation, ψ rotor-over is the wind wheel speed overshoot, ψ d-over is the overshoot of the floating foundation translational displacement response, ψ θ-over is the overshoot of the floating foundation rotation response, α is the ITAE weight coefficient, β is the overshoot weight coefficient, and t is time.

[0061] In this embodiment, an intelligent optimization algorithm is used to optimize the pitch controller parameters in real time to ensure the stability of the wind turbine output power and suppress the movement of the floating foundation, so as to reduce the wind turbine load and fatigue load at the key position of the wind turbine structure and increase its service life. The wind turbine load and output power are selected as the control objects, and their main influencing factors include the wind rotor speed and the swaying motion of the floating foundation. Based on this, the time domain integral value of the absolute value of the error (ITAE) and the sum of the penalty function terms are constructed as the optimization objective function, and the minimum value of the objective function is used to determine the intelligent optimization algorithm for the pitch controller K. p and K I The quality of the adjustment.

[0062] In one embodiment of the present invention, when the wind speed is lower than the rated wind speed, torque control is used to achieve maximum capture of wind energy, thereby achieving the control goal of maximum power point tracking:

[0063]

[0064] Where, ρ a is the air density, R is the rotor radius, λ is the tip speed ratio of DTU10MW wind turbine, Ω l is the low-speed shaft speed, C p (λ) is the wind energy utilization coefficient.

[0065] like Figure 2 、 Figure 3 As shown, an embodiment of the present invention provides a control device for an offshore wind turbine. The device embodiment can be implemented by software, hardware, or a combination of software and hardware. From the hardware level, as Figure 2 As shown in FIG. 1 , a hardware architecture diagram of an electronic device where a control device of an offshore wind turbine is provided in an embodiment of the present invention is located. Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, it is formed by the CPU of the electronic device in which it is located reading the corresponding computer program in the non-volatile memory into the internal memory and running it.

[0066] like Figure 3 As shown, this embodiment provides a control device for an offshore wind turbine, the device comprising:

[0067] The first data processing module 300 is configured to determine the rated speed of the low-speed shaft of the wind rotor based on the current wind speed when the current wind speed is greater than the rated front wind speed;

[0068] A second data processing module 302 is configured to determine a change in a pitch angle of a wind turbine blade based on the rated speed of the wind rotor low-speed shaft;

[0069] The third data processing module 304 is configured to control the wind turbine based on the variation in the pitch angle of the wind turbine blades.

[0070] In one embodiment of the present invention, the second data processing module 302 is configured to perform the following steps:

[0071] Determining a proportional gain of a pitch angle and an integral gain of a pitch angle based on a rated speed of the low-speed shaft of the wind rotor;

[0072] The change in the pitch angle of the wind turbine blade is determined based on the proportional gain of the pitch angle and the integral gain of the pitch angle.

[0073] In one embodiment of the present invention, the change in the pitch angle of the wind turbine blades is determined by the following formula:

[0074]

[0075] Where Δθ is the change in the pitch angle of the wind turbine blades, T r is the wind wheel torque, I r is the moment of inertia of the wind rotor low speed shaft, T g is the generator torque, I g is the moment of inertia of the generator high-speed shaft, I drv is the inertia moment of the low-speed shaft of the transmission system, N g is the gearbox transmission ratio, Ω0 is the rated speed of the wind wheel low speed shaft, K is the acceleration of the wind wheel low-speed shaft rotation, P is the proportional gain of the pitch angle, K I is the integral gain of the pitch angle, K D is the differential gain of the preset pitch angle, and t is the time.

[0076] In one embodiment of the present invention, the proportional gain of the pitch angle is determined by the following formula:

[0077]

[0078] Where K pis the proportional gain of the pitch angle, I drv is the inertia moment of the low-speed shaft of the transmission system, Ω0 is the rated speed of the low-speed shaft of the wind wheel, is the damping ratio, is the natural frequency, N g is the gearbox transmission ratio, are preset parameters.

[0079] In one embodiment of the present invention, the integral gain of the pitch angle is determined by the following formula:

[0080]

[0081] Where K I is the integral gain of the pitch angle, I drv is the inertia moment of the low-speed shaft of the transmission system, Ω0 is the rated speed of the low-speed shaft of the wind wheel, is the damping ratio, is the natural frequency, N g is the gearbox transmission ratio, are preset parameters.

[0082] In one embodiment of the present invention, the second data processing module 302 is configured to perform the following steps:

[0083] Optimizing the proportional gain of the pitch angle and the integral gain of the pitch angle according to a preset objective function to obtain an optimized proportional gain of the pitch angle and an optimized integral gain of the pitch angle;

[0084] The change in the wind turbine blade pitch angle is determined based on the proportional gain of the optimized pitch angle and the integral gain of the optimized pitch angle.

[0085] In one embodiment of the present invention, the preset objective function is constructed by the following formula:

[0086]

[0087] Where, F NSGA is the preset objective function, f rotor (t) is the wind wheel speed difference, d p (t) is the translational motion response of the floating foundation, θ p (t) is the rotational motion response of the floating foundation, ψ rotor-over is the wind wheel speed overshoot, ψ d-over is the overshoot of the floating foundation translational displacement response, ψ θ-over is the overshoot of the floating foundation rotation response, α is the ITAE weight coefficient, β is the overshoot weight coefficient, and t is time.

[0088] It should be understood that the structures illustrated in the embodiments of the present invention do not constitute specific limitations on a control and measurement device for an offshore wind turbine. In other embodiments of the present invention, a control and measurement device for an offshore wind turbine may include more or fewer components than illustrated, or may combine or separate certain components, or employ different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of both.

[0089] The information interaction, execution process, etc. between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For specific contents, please refer to the description in the embodiment of the method of the present invention and will not be repeated here.

[0090] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a control method for an offshore wind turbine in any embodiment of the present invention is implemented.

[0091] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a control method for an offshore wind turbine according to any embodiment of the present invention.

[0092] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program codes stored in the storage medium.

[0093] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute part of the present invention.

[0094] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0095] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0096] In addition, it can be understood that the program code read from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion module connected to the computer, and then based on the instructions of the program code, the CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above embodiments.

[0097] It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0098] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk, etc. Various media that can store program codes.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for an offshore wind turbine, characterized in that: The method comprises: When the current fan speed is greater than the rated fan speed, determining the rated speed of the low-speed shaft of the wind rotor based on the current fan speed; Determining a change in a pitch angle of a wind turbine blade based on a rated speed of the wind rotor low-speed shaft; The wind turbine is controlled based on the variation of the pitch angle of the wind turbine blades.

2. The method according to claim 1, characterized in that The determining of the change in the pitch angle of the wind turbine blades based on the rated speed of the wind rotor low-speed shaft includes: Determining a proportional gain of a pitch angle and an integral gain of a pitch angle based on a rated speed of the low-speed shaft of the wind rotor; The change in the pitch angle of the wind turbine blade is determined based on the proportional gain of the pitch angle and the integral gain of the pitch angle.

3. The method according to claim 2, characterized in that The change in the wind turbine blade pitch angle is determined by the following formula: Where Δθ is the change in the pitch angle of the wind turbine blades, T r is the wind wheel torque, I r is the moment of inertia of the wind rotor low speed shaft, T g is the generator torque, I g is the moment of inertia of the generator high-speed shaft, I drv is the inertia moment of the low-speed shaft of the transmission system, N g is the gearbox transmission ratio, Ω0 is the rated speed of the wind wheel low speed shaft, K is the acceleration of the wind wheel low-speed shaft rotation, P is the proportional gain of the pitch angle, K I is the integral gain of the pitch angle, K D is the differential gain of the preset pitch angle, and t is the time.

4. The method according to claim 2, characterized in that The proportional gain of the pitch angle is determined by the following formula: Where K p is the proportional gain of the pitch angle, I drv is the inertia moment of the low-speed shaft of the transmission system, Ω0 is the rated speed of the low-speed shaft of the wind wheel, is the damping ratio, is the natural frequency, N g is the gearbox transmission ratio, are preset parameters.

5. The method according to claim 2, characterized in that The integral gain of the pitch angle is determined by the following formula: Where K I is the integral gain of the pitch angle, I drv is the inertia moment of the low-speed shaft of the transmission system, Ω0 is the rated speed of the low-speed shaft of the wind wheel, is the damping ratio, is the natural frequency, N g is the gearbox transmission ratio, are preset parameters.

6. The method according to claim 2, characterized in that The determining the change in the pitch angle of the wind turbine blade based on the proportional gain of the pitch angle and the integral gain of the pitch angle includes: Optimizing the proportional gain of the pitch angle and the integral gain of the pitch angle according to a preset objective function to obtain an optimized proportional gain of the pitch angle and an optimized integral gain of the pitch angle; The change in the pitch angle of the wind turbine blade is determined based on the proportional gain of the optimized pitch angle and the integral gain of the optimized pitch angle.

7. The method according to claim 6, characterized in that The preset objective function is constructed by the following formula: Where, F NSGA is the preset objective function, f rotor (t) is the wind wheel speed difference, d p (t) is the translational motion response of the floating foundation, θ p (t) is the rotational motion response of the floating foundation, ψ rotor-over is the wind wheel speed overshoot, ψ d-over is the overshoot of the floating foundation translational displacement response, ψ θ-over is the overshoot of the floating foundation rotation response, α is the ITAE weight coefficient, β is the overshoot weight coefficient, and t is time.

8. A control device for an offshore wind turbine, characterized in that: include: A first data processing module is configured to determine a rated speed of a low-speed shaft of a wind turbine based on the current wind turbine speed when the current wind turbine speed is greater than the rated wind turbine speed; A second data processing module is used to determine a change in the pitch angle of the wind turbine blades based on the rated speed of the wind rotor low-speed shaft; The third data processing module is used to control the wind turbine based on the change in the pitch angle of the wind turbine blades.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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